insurance problems

so a few months ago, i got pulled over by a police officer for doing a stop and run thru a stop sign, He informed me when he pulled me over that i had an insurance lapse and that he was goin to tow my car and send tags back to DMV. So i called my agent first thing on the next business day and i explained to her what happened and she said she would get back to me. Time went on and the more aggitated i got so i called the home office instead my agent.. Seemed to get alot of run around from my agent and she was not telling me what i wanted to hear. So in all that matter they finally got DMV taken care of and my FR-19 sent to DMV. Now my problem is my car has been sitting in the impound for over 3months now and they are saying that i have to pay for storage fees and the towing fee. I called everyone including Dept of Ins and filed complaint. Home office of my insurance said that my agent is responsible for paying it because it was not my fault that i had lapse because i had receipts to prove i paid all i had to pay. I only get one check a month because i am a stay at home mom who is disabled. I dont know where else to go for help to fix this. I cannot afford that and i was told that the insurance agent is at fault. So wouldn't that make it the who insurance company's fault as well? and I have no idea what to do about towing? I paid for that car and to have it ripped from under me is crazy and has caused alot of emotional stress in my life?? HELP